OnlineTrajectoryOptimization

Intrudermodel <h2>Continuous Director</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>startTime</td><td>&nbsp;</td><td>null</td></tr><tr><td>stopTime</td><td>&nbsp;</td><td>null</td></tr><tr><td>synchronizeToRealTime</td><td>false</td><td>false</td></tr><tr><td>initStepSize</td><td>0.1</td><td>0.1</td></tr><tr><td>maxStepSize</td><td>1.0</td><td>1.0</td></tr><tr><td>maxIterations</td><td>20</td><td>20</td></tr><tr><td>errorTolerance</td><td>1e-4</td><td>1.0E-4</td></tr><tr><td>ODESolver</td><td>ExplicitRK23Solver</td><td>ExplicitRK23Solver</td></tr></table> <h2>PeriodicSampler</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>samplePeriod</td><td>T</td><td>0.1</td></tr><tr><td>microstep</td><td>0</td><td>0</td></tr></table> <h2>Expression</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>expression</td><td>[x, y]</td><td>[x, y]</td></tr></table> <h2>DifferentialSystem</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>stateVariableNames</td><td>{&quot;x&quot;, &quot;y&quot;, &quot;theta&quot;}</td><td>{&quot;x&quot;, &quot;y&quot;, &quot;theta&quot;}</td></tr><tr><td>xPosition</td><td>x</td><td>0.0</td></tr><tr><td>yPosition</td><td>y</td><td>0.0</td></tr><tr><td>x</td><td>initialXposition</td><td>0.0</td></tr><tr><td>y</td><td>initialYposition</td><td>0.0</td></tr><tr><td>theta</td><td>initialOrientation</td><td>0.0</td></tr><tr><td>x_dot</td><td>cos(theta)*initialVelocity</td><td>0.0</td></tr><tr><td>y_dot</td><td>sin(theta)*initialVelocity</td><td>0.0</td></tr><tr><td>theta_dot</td><td>initialAngularVelocity</td><td>0.0</td></tr></table>